A procedure and frame structure for Wi-Fi sensing is described. An aspect of the disclosure provides a method of sensing. Such the method includes sending, by an initiating station (STA) to a plurality of responder STAs, a sensing request comprising a sensing announcement frame indicating identifiers (ID) of the plurality of responder STAs. Such a method further includes receiving, by the initiating STA from the plurality of responder STAs, one or more responses based on the sensing request. In some embodiments, the announcement frame further indicates resource unit assignments for receiving acknowledgements from the plurality of responder STAs. In some embodiments, the method further includes receiving, by the initiating STA from the plurality of responder STAs, the acknowledgements indicating a willingness to participate in the sensing procedure.